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<div class="title">kernel_containers.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_GPU_CONTAINERS_KERNEL_CONTAINERS_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_GPU_CONTAINERS_KERNEL_CONTAINERS_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#if defined(__CUDACC__) </span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">    #define __PCL_GPU_HOST_DEVICE__ __host__ __device__ __forceinline__ </span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">    #define __PCL_GPU_HOST_DEVICE__</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#endif  </span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;cstddef&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">namespace </span>gpu</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    {</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_dev_ptr.html">   54</a></span>&#160;        <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1gpu_1_1_dev_ptr.html">DevPtr</a></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;            <span class="keyword">typedef</span> T elem_type;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;            <span class="keyword">const</span> <span class="keyword">static</span> <span class="keywordtype">size_t</span> elem_size = <span class="keyword">sizeof</span>(elem_type);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;            T* data;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;            __PCL_GPU_HOST_DEVICE__ <a class="code" href="structpcl_1_1gpu_1_1_dev_ptr.html">DevPtr</a>() : data(0) {}</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;            __PCL_GPU_HOST_DEVICE__ <a class="code" href="structpcl_1_1gpu_1_1_dev_ptr.html">DevPtr</a>(T* data_arg) : data(data_arg) {}</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;            __PCL_GPU_HOST_DEVICE__ <span class="keywordtype">size_t</span> elemSize()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> elem_size; }</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;            __PCL_GPU_HOST_DEVICE__ <span class="keyword">operator</span>       T*()       { <span class="keywordflow">return</span> data; }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;            __PCL_GPU_HOST_DEVICE__ <span class="keyword">operator</span> <span class="keyword">const</span> T*() <span class="keyword">const</span> { <span class="keywordflow">return</span> data; }</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        };</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ptr_sz.html">   69</a></span>&#160;        <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1gpu_1_1_ptr_sz.html">PtrSz</a> : <span class="keyword">public</span> <a class="code" href="structpcl_1_1gpu_1_1_dev_ptr.html">DevPtr</a>&lt;T&gt;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        {                     </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;            __PCL_GPU_HOST_DEVICE__ <a class="code" href="structpcl_1_1gpu_1_1_ptr_sz.html">PtrSz</a>() : size(0) {}</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;            __PCL_GPU_HOST_DEVICE__ <a class="code" href="structpcl_1_1gpu_1_1_ptr_sz.html">PtrSz</a>(T* data_arg, <span class="keywordtype">size_t</span> size_arg) : <a class="code" href="structpcl_1_1gpu_1_1_dev_ptr.html">DevPtr&lt;T&gt;</a>(data_arg), size(size_arg) {}</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;            <span class="keywordtype">size_t</span> size;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        };</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ptr_step.html">   77</a></span>&#160;        <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep</a> : <span class="keyword">public</span> <a class="code" href="structpcl_1_1gpu_1_1_dev_ptr.html">DevPtr</a>&lt;T&gt;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        {   </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;            __PCL_GPU_HOST_DEVICE__ <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep</a>() : <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html#a4802c5fb952777080292c9e3e13d06c0">step</a>(0) {}</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;            __PCL_GPU_HOST_DEVICE__ <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep</a>(T* data_arg, <span class="keywordtype">size_t</span> step_arg) : <a class="code" href="structpcl_1_1gpu_1_1_dev_ptr.html">DevPtr&lt;T&gt;</a>(data_arg), <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html#a4802c5fb952777080292c9e3e13d06c0">step</a>(step_arg) {}</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ptr_step.html#a4802c5fb952777080292c9e3e13d06c0">   83</a></span>&#160;            <span class="keywordtype">size_t</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html#a4802c5fb952777080292c9e3e13d06c0">step</a>;            </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;            __PCL_GPU_HOST_DEVICE__       T* ptr(<span class="keywordtype">int</span> y = 0)       { <span class="keywordflow">return</span> (      T*)( (      <span class="keywordtype">char</span>*)<a class="code" href="structpcl_1_1gpu_1_1_dev_ptr.html">DevPtr&lt;T&gt;::data</a> + y * <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html#a4802c5fb952777080292c9e3e13d06c0">step</a>); }</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;            __PCL_GPU_HOST_DEVICE__ <span class="keyword">const</span> T* ptr(<span class="keywordtype">int</span> y = 0)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<span class="keyword">const</span> T*)( (<span class="keyword">const</span> <span class="keywordtype">char</span>*)<a class="code" href="structpcl_1_1gpu_1_1_dev_ptr.html">DevPtr&lt;T&gt;::data</a> + y * <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html#a4802c5fb952777080292c9e3e13d06c0">step</a>); }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            __PCL_GPU_HOST_DEVICE__       T&amp; operator()(<span class="keywordtype">int</span> y, <span class="keywordtype">int</span> x)       { <span class="keywordflow">return</span> ptr(y)[x]; }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;            __PCL_GPU_HOST_DEVICE__ <span class="keyword">const</span> T&amp; operator()(<span class="keywordtype">int</span> y, <span class="keywordtype">int</span> x)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> ptr(y)[x]; }</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        };</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">   92</a></span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz</a> : <span class="keyword">public</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep</a>&lt;T&gt;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        {   </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            __PCL_GPU_HOST_DEVICE__ <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz</a>() : cols(0), rows(0) {}</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;            __PCL_GPU_HOST_DEVICE__ <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz</a>(<span class="keywordtype">int</span> rows_arg, <span class="keywordtype">int</span> cols_arg, T* data_arg, <span class="keywordtype">size_t</span> step_arg) </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                : <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;T&gt;</a>(data_arg, step_arg), cols(cols_arg), rows(rows_arg) {}</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            <span class="keywordtype">int</span> cols;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            <span class="keywordtype">int</span> rows;                                                                              </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        };</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keyword">namespace </span>device</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keyword">using</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_sz.html">pcl::gpu::PtrSz</a>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keyword">using</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">pcl::gpu::PtrStep</a>;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="keyword">using</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">pcl::gpu::PtrStepSz</a>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;}</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="preprocessor">#undef __PCL_GPU_HOST_DEVICE__</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_GPU_CONTAINERS_KERNEL_CONTAINERS_HPP_ */</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_dev_ptr_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_dev_ptr.html">pcl::gpu::DevPtr</a></div><div class="ttdef"><b>Definition:</b> kernel_containers.h:55</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ptr_step_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ptr_step.html">pcl::gpu::PtrStep</a></div><div class="ttdef"><b>Definition:</b> kernel_containers.h:78</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ptr_step_html_a4802c5fb952777080292c9e3e13d06c0"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ptr_step.html#a4802c5fb952777080292c9e3e13d06c0">pcl::gpu::PtrStep::step</a></div><div class="ttdeci">size_t step</div><div class="ttdoc">stride between two consecutive rows in bytes. Step is stored always and everywhere in bytes!...</div><div class="ttdef"><b>Definition:</b> kernel_containers.h:83</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ptr_step_sz_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ptr_step_sz.html">pcl::gpu::PtrStepSz</a></div><div class="ttdef"><b>Definition:</b> kernel_containers.h:93</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ptr_sz_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ptr_sz.html">pcl::gpu::PtrSz</a></div><div class="ttdef"><b>Definition:</b> kernel_containers.h:70</div></div>
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